Analysis and Experimental Evaluation of a Lateral Controller for Path Tracking of Mobile Systems
2022 European Control Conference (ECC)(2022)
摘要
This paper presents a novel lateral controller that solves the path tracking problem. The proposed controller uses an orthogonal projection on a prescribed path to stabilise an error model, which leads to constructive conditions on the controller parameters. Explicit formulas to determine the orthogonal projection for straight and circular paths are given and it will be shown that the mobile system stays on an appropriately designed path once it reaches the path. The theoretical results are verified by laboratory experiments.
更多查看译文
关键词
lateral controller,path tracking,mobile systems
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要